function displaySimulatedRobotAndParticles (simulatedRobot, particles, map)
    clf
    fill(map(:, 1), map(:, 2), 'w')
    hold on
    quiver(particles(:, 1), particles(:, 2), sin(particles(:, 3)), cos(particles(:, 3)), .2)
    quiver(simulatedRobot(1), simulatedRobot(2), sin(simulatedRobot(3)), cos(simulatedRobot(3)), 5)
    drawnow
    axis equal
end